version: 66.08
glider: 166
mission: 3
dive: 10
start: 9 24 110 6 37 17
data:
$ID,166
$MISSION,3
$DIVE,10
$N_DIVES,15
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51913
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21488.117
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2789
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,9
$FG_AHR_24V,22
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.567585
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043148831
$SEABIRD_T_H,0.00063078973
$SEABIRD_T_I,2.2916694e-05
$SEABIRD_T_J,2.2962076e-06
$SEABIRD_C_G,-9.9893045
$SEABIRD_C_H,1.1222894
$SEABIRD_C_I,-0.0015891744
$SEABIRD_C_J,0.00020161238
$GPS1,240910,062522,2318.200,12609.457,12,3.2,31,-3.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.0
$GPS2,240910,063655,2318.275,12609.291,18,2.0,35,-3.4
$SPEED_LIMITS,0.241,0.365
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,30.6,84846,-18.5,-13.889
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.14,-243.3,0.0,0.0,0,124,0.00,0.00,-106.18,0.000,2,0.000,0.000,138,1795,3376,0,0,0,0,0,0
$GC,127,-1.14,-243.3,6.2,-12.7,15,152,8.93,2.10,-6.90,0.000,4,0.236,0.050,2467,371,3782,0,0,0,0,0,0
$GC,197,-0.39,-243.3,47.9,-55.8,26,206,0.77,2.20,0.00,0.000,6,0.173,0.044,2709,1794,3783,0,0,0,0,0,0
$GC,524,-0.58,-243.3,95.5,-10.1,87,532,0.17,2.17,0.00,0.000,4,0.075,0.050,2625,3214,3785,0,0,0,0,0,0
$GC,590,-0.61,-243.3,104.4,-14.8,98,598,0.00,2.12,0.00,0.000,6,0.000,0.036,2624,1789,3785,0,0,0,0,0,0
$GC,919,-0.57,-243.3,163.5,-17.7,159,927,0.12,2.08,0.00,0.000,4,0.172,0.046,2658,394,3786,0,0,0,0,0,0
$GC,996,-0.69,-243.3,174.7,-12.4,172,1004,0.12,2.10,0.00,0.000,6,0.090,0.038,2588,1827,3786,0,0,0,0,0,0
$GC,1342,-0.61,-243.3,237.6,-17.6,233,1350,0.20,0.00,0.00,0.000,6,0.162,0.000,2646,1828,3786,0,0,0,0,0,0
$GC,1689,-0.73,-243.3,274.4,-10.8,294,1695,0.12,0.00,0.00,0.000,6,0.093,0.000,2586,1829,3785,0,0,0,0,0,0
$GC,2033,-0.70,-243.3,328.6,-15.9,355,2040,0.00,2.12,0.00,0.000,4,0.000,0.048,2586,396,3785,0,0,0,0,0,0
$GC,2070,-0.64,-243.3,334.8,-17.3,361,2078,0.17,2.10,0.00,0.000,6,0.162,0.041,2635,1806,3784,0,0,0,0,0,0
$GC,2418,-0.78,-243.3,371.3,-10.2,422,2425,0.15,0.00,0.00,0.000,6,0.082,0.000,2568,1806,3783,0,0,0,0,0,0
$GC,2763,-0.74,-243.3,419.8,-13.6,483,2770,0.12,2.12,0.00,0.000,4,0.180,0.050,2601,389,3781,0,0,0,0,0,0
$GC,2818,-0.81,-243.3,426.5,-11.9,492,2825,0.00,2.10,0.00,0.000,6,0.000,0.043,2600,1808,3781,0,0,0,0,0,0
$GC,3163,-0.87,-243.3,465.8,-12.4,553,3171,0.12,2.12,0.00,0.000,4,0.099,0.047,2543,396,3779,0,0,0,0,0,0
$GC,3206,-0.76,-243.3,472.7,-17.2,560,3213,0.17,2.10,0.00,0.000,6,0.177,0.044,2591,1798,3778,0,0,0,0,0,0
$STATE,3414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3414,begin apogee
$GC,3419,-0.23,0.0,500.6,12.3,597,3616,0.50,0.00,188.48,0.959,6,0.138,0.000,2761,1799,2789,0,0,0,0,0,0
$STATE,3616,end apogee,CONTROL_FINISHED_OK
$STATE,3616,begin climb
$GC,3620,1.14,243.3,508.3,0.0,615,3831,1.27,2.28,200.48,0.922,4,0.088,0.050,3211,392,1796,0,0,0,0,0,0
$GC,3886,0.58,243.3,441.4,38.2,653,3894,0.62,2.20,0.00,0.000,6,0.190,0.044,3031,1804,1791,0,0,0,0,0,0
$GC,4233,0.45,243.3,370.1,19.0,714,4240,0.15,2.12,0.00,0.000,4,0.164,0.054,2980,3209,1787,0,0,0,0,0,0
$GC,4304,0.56,293.1,359.5,12.0,726,4353,0.00,2.10,41.40,0.857,6,0.000,0.041,2988,1802,1593,0,0,0,0,0,0
$GC,4692,0.57,304.4,304.0,13.5,794,4711,0.10,2.17,10.52,0.760,4,0.105,0.051,3047,386,1546,0,0,0,0,0,0
$GC,4759,0.54,304.4,292.7,16.6,805,4767,0.12,2.15,0.00,0.000,6,0.168,0.041,3014,1810,1543,0,0,0,0,0,0
$GC,5108,0.51,304.4,235.1,17.8,866,5114,0.00,2.10,0.00,0.000,4,0.000,0.050,3009,3202,1542,0,0,0,0,0,0
$GC,5194,0.59,304.4,221.5,14.3,881,5201,0.00,2.10,0.00,0.000,6,0.000,0.041,3017,1798,1542,0,0,0,0,0,0
$GC,5539,0.59,304.4,166.3,14.7,942,5546,0.00,2.12,0.00,0.000,4,0.000,0.050,3028,389,1542,0,0,0,0,0,0
$GC,5565,0.59,304.4,162.5,14.9,946,5572,0.00,2.10,0.00,0.000,6,0.000,0.037,3025,1811,1540,0,0,0,0,0,0
$GC,5895,0.59,304.4,113.8,15.2,1007,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1814,1540,0,0,0,0,0,0
$GC,6216,0.70,354.1,67.9,12.0,1068,6263,0.12,2.20,40.05,0.671,4,0.093,0.047,3087,3211,1344,0,0,0,0,0,0
$GC,6283,0.60,354.1,58.0,17.6,1077,6292,0.17,2.17,0.00,0.000,6,0.148,0.039,3041,1800,1344,0,0,0,0,0,0
$GC,6614,1.05,532.1,28.3,7.1,1138,6732,0.32,0.00,114.75,0.613,2,0.054,0.000,3194,1800,756,0,0,0,0,0,0
$STATE,6734,end climb,SURFACE_DEPTH_REACHED
$STATE,6734,begin surface coast
$FINISH,0.6,1.008566
$STATE,6746,end surface coast,CONTROL_FINISHED_OK
$STATE,6746,begin surface
$SM_CCo,6825,0.00,0.000,0,0,753,499.43
$SM_GC,1.34,8.05,0.00,0.00,0.037,0.000,0.000,155,1800,753,-8.34,0.00,499.43
$IRIDIUM_FIX,2309.79,12607.16,240910,040418
$TT8_MAMPS,0.026215
$HUMID,39.09
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.40
$XPDR_PINGS,130
$24V_AH,24.3,5.292
$10V_AH,10.6,3.080
$FG_AHR_24Vo,22.000
$FG_AHR_10Vo,9.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.650,51.275,595.675,0.000,0.000,116.081,62.119,168.753,32.500,0.000,36.397,2606.261,1545.132,621.092,2480.690,260.068,0.000,1590.964,0.000,2116.356,0.000,0.542,0.000
$DEVICE_MAMPS,235.620,53.550,959.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.472,1181.256,866.284,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330496
$DATA_FILE_SIZE,63573,1156
$CAP_FILE_SIZE,103680,0
$CFSIZE,260165632,178614272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,212.6,1
$GPS,240910,083207,2319.175,12609.778,29,1.2,29,-3.4